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WO2011081156A1 - Dispositif de navigation, son procédé de guidage et son procédé de recherché d'itinéraire - Google Patents

Dispositif de navigation, son procédé de guidage et son procédé de recherché d'itinéraire Download PDF

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Publication number
WO2011081156A1
WO2011081156A1 PCT/JP2010/073615 JP2010073615W WO2011081156A1 WO 2011081156 A1 WO2011081156 A1 WO 2011081156A1 JP 2010073615 W JP2010073615 W JP 2010073615W WO 2011081156 A1 WO2011081156 A1 WO 2011081156A1
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WO
WIPO (PCT)
Prior art keywords
lane
route
section
exit
navigation device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2010/073615
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English (en)
Japanese (ja)
Inventor
紹男 住澤
秀生 藤原
栗原　聡
新 林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Faurecia Clarion Electronics Co Ltd
Original Assignee
Clarion Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2009298085A external-priority patent/JP2011137733A/ja
Priority claimed from JP2009298078A external-priority patent/JP2011137726A/ja
Application filed by Clarion Co Ltd filed Critical Clarion Co Ltd
Priority to US13/519,351 priority Critical patent/US20130035858A1/en
Publication of WO2011081156A1 publication Critical patent/WO2011081156A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3626—Details of the output of route guidance instructions
    • G01C21/3658—Lane guidance

Definitions

  • the present invention relates to a navigation device technology.
  • the present invention claims the priority of Japanese Patent Application No. 2009-298078 filed on December 28, 2009 and Japanese Patent Application No. 2009-298085 filed on December 28, 2009. However, for designated countries where weaving by reference is permitted, the contents described in that application are incorporated into this application by reference.
  • a navigation apparatus uses a route guidance technique corresponding to a lane in which only a vehicle that satisfies a specific condition such as a HOV (High-Occupancy Vehicles) lane can travel.
  • Patent Document 1 describes a technique regarding such a navigation device.
  • the HOV lane is also called a car pool lane.
  • An object of the present invention is to provide navigation technology that guides the HOV lane more easily.
  • the navigation device relating to a point that the user can easily grasp the entrance / exit to travel in accordance with the recommended route (hereinafter referred to as “point of the first invention”)
  • Storage means for storing lane information including whether or not lanes (hereinafter referred to as “conditional lanes”) that can be accessed by satisfying a predetermined condition for each predetermined section of the vehicle, and a recommended route to the specified destination
  • a lane guide means for guiding entry into or exit from the conditional lane in a section of the road where the conditional lane can enter and exit, and the lane
  • the guide means includes an exitable section from the conditional lane and an enterable section to the conditional lane before the exitable section.
  • the present invention relates to a point (hereinafter referred to as “point of the second invention”) for guiding an appropriate route including a lane (hereinafter referred to as a “conditional lane”) that can be passed by satisfying a predetermined condition.
  • the navigation device uses the lane information to store lane information including the installation status of lanes (hereinafter referred to as conditioned lanes) that can be passed by satisfying predetermined conditions, and a recommended route to the destination.
  • the route search means for searching and the recommended route searched by the route search means verify whether the travel prohibition section that needs to exit from the conditional lane other than the exit from the conditional lane is included. Route verification means, and the route search means avoids the movement prohibited section when the recommended route includes the movement prohibited section. Re explore, characterized in that.
  • FIG. 1 is a schematic configuration diagram of a navigation device.
  • FIG. 2 is a diagram illustrating the configuration of the link table.
  • FIG. 3 is a diagram showing the configuration of the exit guidance management table.
  • FIG. 4 is a diagram showing the mounting position of the camera.
  • FIG. 5 is a diagram illustrating a state in which a captured image is projected onto the ground surface.
  • FIG. 6 is a functional configuration diagram of the arithmetic processing unit.
  • FIG. 7 is a flowchart of the HOV guidance process.
  • FIG. 8 is a diagram illustrating an example of a guidance screen displayed in the HOV guidance process.
  • FIG. 9 is a diagram illustrating a specific example of the HOV guidance process.
  • FIG. 10 is a diagram illustrating a specific example of the HOV guidance process.
  • FIG. 1 is a schematic configuration diagram of a navigation device.
  • FIG. 2 is a diagram illustrating the configuration of the link table.
  • FIG. 3 is a diagram showing the configuration of the
  • FIG. 11 is a schematic configuration diagram of the navigation device.
  • FIG. 12 is a diagram illustrating the configuration of the link table.
  • FIG. 13 is a diagram showing the mounting position of the camera.
  • FIG. 14 is a diagram illustrating a state in which a captured image is projected onto the ground surface.
  • FIG. 15 is a functional configuration diagram of the arithmetic processing unit.
  • FIG. 16 is a flowchart of route search processing.
  • FIG. 17 is a flowchart of the HOV priority route verification process.
  • FIG. 18 is a diagram illustrating the HOV priority route verification process using a specific example.
  • FIG. 19 is a flowchart of a modification of the HOV priority route verification process.
  • FIG. 1 shows an overall configuration diagram of the navigation device 100.
  • the navigation device 100 is a so-called navigation device capable of displaying map information and indicating a point indicating the current location of the navigation device 100 and information for guiding a route to a set destination.
  • the navigation device 100 includes an arithmetic processing unit 1, a display 2, a storage device 3, a voice input / output device 4 (including a microphone 41 as a voice input device and a speaker 42 as a voice output device), an input device 5, and a ROM.
  • GPS Global Positioning System
  • the arithmetic processing unit 1 is a central unit that performs various processes. For example, the current location is calculated based on information output from the various sensors 7 and 8, the GPS receiver 9, the FM multiplex broadcast receiver 10, and the like. Further, map data necessary for display is read from the storage device 3 or the ROM device 6 based on the obtained current location information.
  • the arithmetic processing unit 1 develops the read map data in graphics, and overlays a mark indicating the current location on the display 2 to display it.
  • an optimal route (or a route or stopover) that connects the departure point or current location instructed by the user with the map data or the like stored in the storage device 3 or the ROM device 6 is used. Search for the recommended route. Further, the user is guided using the speaker 42 and the display 2.
  • the arithmetic processing unit 1 can guide the traveling at the entrance to the HOV (High-OccupancyupVehicles) lane when performing route guidance.
  • the HOV lane is defined such that only vehicles having a specified number of passengers (for example, two people including the driver) or more and vehicles satisfying a specific standard (low fuel consumption or low pollution) can travel. Lane.
  • the arithmetic processing unit 1 of the navigation device 100 has a configuration in which each device is connected by a bus 25.
  • the arithmetic processing unit 1 includes a CPU (Central Processing Unit) 21 that executes various processes such as numerical calculation and control of each device, and a RAM (Random Access Memory that stores map data, arithmetic data, and the like read from the storage device 3. ) 22, ROM (Read Only Memory) 23 for storing programs and data, and I / F (interface) 24 for connecting various hardware to the arithmetic processing unit 1.
  • CPU Central Processing Unit
  • RAM Random Access Memory
  • ROM Read Only Memory
  • I / F interface
  • the display 2 is a unit that displays graphics information generated by the arithmetic processing unit 1 or the like.
  • the display 2 is configured by a liquid crystal display, an organic EL display, or the like.
  • the storage device 3 includes at least a readable / writable storage medium such as an HDD (Hard Disk Drive) or a nonvolatile memory card.
  • a readable / writable storage medium such as an HDD (Hard Disk Drive) or a nonvolatile memory card.
  • This storage medium includes a link table 200 which is map data (including link data of links constituting a road on the map) necessary for a normal route search device, and the position of the exit from the HOV lane on the recommended route
  • An exit guidance management table 250 for specifying whether or not guidance is necessary is stored.
  • FIG. 2 is a diagram showing the configuration of the link table 200.
  • the link table 200 includes, for each mesh identification code (mesh ID) 201, which is a partitioned area on the map, link data 202 of each link constituting a road included in the mesh area.
  • mesh ID mesh identification code
  • the link data 202 includes coordinate information 222 of two nodes (start node and end node) constituting the link, a road type 223 indicating the type of road including the link, and a link length.
  • Link length 224 indicating the link travel time 225 stored in advance, a start connection link that is a link connected to the start node of the link, and an end connection link that is a link connected to the end node of the link It includes a start connection link, an end connection link 226, a speed limit 227 indicating the speed limit of the road including the link, an HOV attribute 228 for specifying an attribute regarding the installation status of the HOV lane for each link, and the like.
  • the HOV attribute 228 includes a “dedicated” attribute 231 when the link is a road composed only of the HOV lane, and “none” when the link is a road not including the HOV lane. Attribute 234. If the link has both a HOV lane and a normal lane, and the road cannot change the lane between the HOV lane and the normal lane, the attribute 232 of “shared-solid line” is used. If the link has both a HOV lane and a normal lane, and the road can change lanes between the HOV lane and the normal lane, An attribute 233 is provided. That is, it can be said that the HOV attribute 228 stores information specifying the installation status of the HOV lane.
  • the upstream and downstream directions of the same road are managed as different links by distinguishing the start node and the end node for the two nodes constituting the link.
  • FIG. 3 is a diagram showing the configuration of the exit guide management table 250. As shown in FIG.
  • the exit guide management table 250 includes an HOV exit link 251 on the route that identifies the HOV exit included in the recommended route.
  • the voice input / output device 4 includes a microphone 41 as a voice input device and a speaker 42 as a voice output device.
  • the microphone 41 acquires sound outside the navigation device 100 such as a voice uttered by a user or another passenger.
  • the speaker 42 outputs a message to the user generated by the arithmetic processing unit 1 as a voice.
  • the microphone 41 and the speaker 42 are separately arranged at a predetermined part of the vehicle. However, it may be housed in an integral housing.
  • the navigation device 100 can include a plurality of microphones 41 and speakers 42.
  • the input device 5 is a device that receives an instruction from the user through an operation by the user.
  • the input device 5 includes a touch panel 51, a dial switch 52, and other hardware switches (not shown) such as scroll keys and scale change keys.
  • the input device 5 includes a remote controller that can perform operation instructions to the navigation device 100 remotely.
  • the remote controller includes a dial switch, a scroll key, a scale change key, and the like, and can send information on operation of each key or switch to the navigation device 100.
  • the touch panel 51 is mounted on the display surface side of the display 2 and can see through the display screen.
  • the touch panel 51 specifies a touch position corresponding to the XY coordinates of the image displayed on the display 2, converts the touch position into coordinates, and outputs the coordinate.
  • the touch panel 51 includes a pressure-sensitive or electrostatic input detection element.
  • the dial switch 52 is configured to be rotatable clockwise and counterclockwise, generates a pulse signal for every rotation of a predetermined angle, and outputs the pulse signal to the arithmetic processing unit 1.
  • the arithmetic processing unit 1 obtains the rotation angle from the number of pulse signals.
  • the ROM device 6 includes at least a readable storage medium such as a ROM (Read Only Memory) such as a CD-ROM or DVD-ROM, or an IC (Integrated Circuit) card.
  • a readable storage medium such as a ROM (Read Only Memory) such as a CD-ROM or DVD-ROM, or an IC (Integrated Circuit) card.
  • ROM Read Only Memory
  • IC Integrated Circuit
  • the vehicle speed sensor 7, the gyro sensor 8 and the GPS receiver 9 are used by the navigation device 100 to detect the current location (own vehicle position).
  • the vehicle speed sensor 7 is a sensor that outputs a value used to calculate the vehicle speed.
  • the gyro sensor 8 is composed of an optical fiber gyro, a vibration gyro, or the like, and detects an angular velocity due to the rotation of the moving body.
  • the GPS receiver 9 receives a signal from a GPS satellite and measures the distance between the mobile body and the GPS satellite and the rate of change of the distance with respect to three or more satellites to thereby determine the current location, travel speed, and travel of the mobile body It measures the direction.
  • the FM multiplex broadcast receiver 10 receives an FM multiplex broadcast signal sent from an FM broadcast station.
  • FM multiplex broadcasting includes VICS (Vehicle Information Communication System: registered trademark) information, current traffic information, regulatory information, SA / PA (service area / parking area) information, parking information, weather information, FM multiplex general information, etc. As text information provided by radio stations.
  • VICS Vehicle Information Communication System: registered trademark
  • SA / PA service area / parking area
  • parking information As text information provided by radio stations.
  • the beacon receiving device 11 receives rough current traffic information such as VICS information, regulation information, SA / PA (service area / parking area) information, parking lot information, weather information, emergency alerts, and the like.
  • VICS information such as VICS information, regulation information, SA / PA (service area / parking area) information, parking lot information, weather information, emergency alerts, and the like.
  • SA / PA service area / parking area
  • parking lot information such as weather information, emergency alerts, and the like.
  • weather information such as a radio beacon that communicates by radio waves.
  • FIG. 4 shows the camera 12 attached to the rear of the vehicle 300.
  • the camera 12 faces slightly downward, and images the ground surface behind the vehicle using an image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor) image sensor.
  • an image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor) image sensor.
  • CMOS Complementary Metal-Oxide Semiconductor
  • FIG. 5 is a diagram for explaining a method of generating a ground projection image using an image captured by the camera 12 of FIG.
  • the camera control unit 104 obtains the position of the viewpoint P of the camera 12 (coordinate position in a three-dimensional space with a predetermined position in the vehicle as the origin) and the imaging direction (gaze direction) K. Then, the camera control unit 104 projects the captured image 510 onto the ground surface 520 from the position of the viewpoint P of the camera 12 in the imaging direction K, and generates a ground projection image 530.
  • the imaging direction K intersects the center of the captured image 510 perpendicularly.
  • the distance from the viewpoint P of the camera 12 to the captured image 510 is determined in advance.
  • the ground projection image 530 generated in this way is an image that looks like a bird's-eye view of the vehicle periphery from above the vehicle.
  • the in-vehicle network communication device 13 connects the navigation device 100 to a network (not shown) corresponding to CAN or the like, which is a vehicle control network standard, and an ECU (Electronic control unit) that is another vehicle control device connected to the network. It is a device that communicates by exchanging CAN messages.
  • a network not shown
  • ECU Electronic control unit
  • FIG. 6 is a functional block diagram of the arithmetic processing unit 1.
  • the arithmetic processing unit 1 includes a main control unit 101, an input receiving unit 102, an output processing unit 103, a camera control unit 104, a lane recognition unit 105, an HOV travel availability determination unit 106, a route The search unit 107, the branch guide unit 108, the route guidance unit 109, and the HOV guide unit 110 are included.
  • the main control unit 101 is a central functional unit that performs various processes, and controls other processing units according to the processing content.
  • information on various sensors, the GPS receiver 9 and the like is acquired, and a map matching process is performed to identify the current location.
  • the travel history is stored in the storage device 3 for each link by associating the travel date and time with the position as needed. Further, the current time is output in response to a request from each processing unit.
  • the main control unit 101 manages various setting information included in the navigation device 100. That is, the main control unit 101 receives information to be set as the various setting information from the user via the input receiving unit 102 and stores it in a predetermined position of the storage device 3.
  • the main control unit 101 receives information related to the use of the HOV lane (for example, information on whether to use the HOV lane actively or not) as various setting information, and stores the information in the storage device 3.
  • the main control unit 101 receives a request for provision of the various setting information from another control unit, the main control unit 101 transfers the various setting information to the control unit that is the request source.
  • the input receiving unit 102 receives an instruction from the user input via the input device 5 or the microphone 41, and controls each unit of the arithmetic processing unit 1 so as to execute processing corresponding to the requested content. For example, when the user requests a recommended route search, the output processing unit 103 is requested to display a map on the display 2 in order to set a destination.
  • the output processing unit 103 receives screen information to be displayed such as polygon information, for example, converts it into a signal for drawing on the display 2, and instructs the display 2 to draw.
  • the camera control unit 104 controls the operation of the camera 12. For example, the start / end timing of imaging by the camera 12 is set. In addition, transmission of the captured image to the lane recognition unit 105 is controlled.
  • the lane recognition unit 105 acquires an image captured by the camera 12 as image data. Then, the acquired image is converted into an image for display (ground projection image). Further, from the acquired image, a sign laid or colored on the road surface of the road is recognized, and the lane in which the vehicle travels is specified. For example, as will be described later, the lane recognition unit 105 recognizes the presence of a sign (rhombic paint) or the like indicating that it is an HOV lane, and if the sign is present near the left and right center in the image, It is determined that 300 is traveling on the HOV lane.
  • the lane recognition unit 105 recognizes the sign not in the vicinity of the left and right center in the image but in a position that is shifted to the left or right rather than the vicinity of the left or right center. If the sign is recognized, it is determined that the vehicle is traveling in an adjacent lane that is not an HOV lane.
  • the HOV traveling availability determination unit 106 determines whether or not the own vehicle 300 can travel on the HOV lane. In the determination of the propriety of traveling, the HOV traveling propriety determining unit 106 determines the vehicle type of the own vehicle 300 based on communication information flowing through the in-vehicle network of the own vehicle 300 via the in-vehicle network communication device 13, and the HOV lane It is determined whether the vehicle type is capable of traveling.
  • the determination process for determining whether or not the vehicle can travel on the HOV lane is not limited to this, and the HOV vehicle traveling determination unit 106 identifies the number of passengers from a load sensor (not shown) attached to the vehicle seat or wears a seat belt. The number of passengers may be specified via a sensor, and it may be determined whether or not the number of passengers that can travel on the HOV lane has been reached.
  • the route search unit 107 searches for an optimum route (recommended route) that connects the starting point or the current location instructed by the user and the destination.
  • a route is searched based on a link cost set in advance for a predetermined section (link) of a road using a route search logic such as Dijkstra method.
  • the HOV lane determination unit 106 is requested to determine whether or not the vehicle is in a state where it can travel on the HOV lane. Priority is given to the route using, and the recommended route is searched. If the vehicle is not in a state where it can travel, the route search unit 107 searches for a route with the lowest link cost without considering the HOV lane.
  • the route search unit 107 determines a route using the HOV lane if the vehicle is already running on the HOV lane even if it is determined in the processing that the vehicle is not in a state where it can travel on the HOV lane. Search for recommended routes with priority.
  • the route search unit 107 determines whether or not the vehicle has already traveled in the HOV lane, the route search unit 107 refers to the HOV attribute 228 of the link to which the current location belongs. If it is determined that the vehicle is traveling. If the attribute is “none”, it is determined that the vehicle is not traveling on the HOV lane. If the attribute is “shared”, the lane indicates whether the traveling lane is the HOV lane. The determination is made by requesting the recognition unit 105 to make a determination.
  • the branch guidance unit 108 guides the user of the presence and position of a junction with another road and a branch point to another road using video and audio. For example, the branch guidance unit 108 displays on the display 2 via the output processing unit 103 a display informing that the merging point is near and the approximate distance to the merging point from the position before the merging position between the branch line of the expressway and the main line. Output. In addition, for example, the branch guide unit 108 informs the user by voice through the speaker 42 which lane to drive at the branch point from the main road to the ramp road.
  • the route guidance unit 109 guides the user's driving operation using the speaker 42 and the display 2 so that the current location of the vehicle does not deviate from the recommended route.
  • the HOV guidance unit 110 provides guidance to the user regarding the entry / exit between the HOV lane and the normal lane at the entrance / exit of the HOV lane. Specifically, the HOV guide unit 110 indicates that it should enter the HOV lane, exit from the HOV lane, or travel lane at the entrance / exit of the HOV lane (generally, the exit and the entrance are shared). The user is informed of the need to maintain the voice, image, and the like. In the guidance, as will be described later, when the HOV guide unit 110 can exit from the HOV lane to the normal lane without deviating from the recommended route, the entry to the HOV lane at the front HOV lane entrance is possible. Can be guided.
  • the HOV guide unit 110 cannot depart from the HOV lane and must deviate from the recommended route, even if there is an HOV lane entrance that can be entered most recently, the HOV lane enters the HOV lane at the entrance. It can be said that there is no guidance to do.
  • the HOV guide unit 110 provides guidance indicating that the user should exit in the exit section from the HOV lane, and provides guidance indicating that the user should enter in the section entering the HOV lane.
  • the HOV guide unit 110 identifies a section close to the destination among the sections on the recommended route that can exit from the HOV lane as the section to leave from the HOV lane. This is to make it travel on the HOV lane as much as possible.
  • the HOV guide section 110 does not perform any guidance of exit guidance and entry guidance.
  • the HOV guide unit 110 detects the approach of the vehicle to the HOV lane after the approach guidance, and stops the exit guidance when the exit of the vehicle from the HOV lane is detected before reaching the exit section. When the exit guidance is stopped, the HOV guide unit 110 again identifies the exit section from the HOV lane on the recommended route, and performs exit guidance and entry guidance.
  • Each functional unit of the arithmetic processing unit 1 described above that is, the main control unit 101, the input reception unit 102, the output processing unit 103, the camera control unit 104, the lane recognition unit 105, the HOV travel availability determination unit 106, the route search unit 107, and the branch
  • the guide unit 108, the route guide unit 109, and the HOV guide unit 110 are constructed by the CPU 21 reading and executing a predetermined program. Therefore, the RAM 22 stores a program for realizing the processing of each functional unit.
  • Each component described above is a classification of the configuration of the navigation device 100 according to the main processing contents in order to facilitate understanding. Therefore, the present invention is not limited by the way of classifying the components and their names.
  • the configuration of the navigation device 100 can be classified into more components depending on the processing content. Moreover, it can also classify
  • each functional unit may be constructed by hardware (ASIC, GPU, etc.). Further, the processing of each functional unit may be executed by one hardware or may be executed by a plurality of hardware.
  • FIG. 7 is a flowchart showing the HOV guidance process performed by the navigation device 100. This flow is started when the navigation apparatus 100 is turned on and the navigation apparatus 100 is activated.
  • the HOV guide unit 110 determines whether or not the navigation device 100 is set to use the HOV lane (step S001). Specifically, the HOV guide unit 110 performs main control on information regarding use of the HOV lane (for example, true or false information set for using the HOV lane) among various setting information included in the navigation device 100. Obtained from the unit 101. Then, the HOV guide unit 110 refers to the information and determines whether the setting is to use the HOV lane.
  • the HOV guide unit 110 determines whether or not the vehicle can travel in the HOV lane (step S002). Specifically, the HOV guide unit 110 requests the HOV travel availability determination unit 106 to determine whether the vehicle can travel on the HOV lane.
  • the HOV guidance The unit 110 ends the HOV guidance process.
  • the HOV guide unit 110 identifies one or a plurality of road sections on which the links having the “shared” HOV attribute continue on the recommended route. (Step S003). Specifically, the HOV guide unit 110 obtains recommended route information from the main control unit 101, reads the HOV attribute 228 of each link included in the recommended route from the link table 200, and sets the HOV attribute 228 to “shared- The link which is “dashed line” 233 is specified. And when the said link is a continuous link, the HOV guide part 110 puts together a continuous link and specifies it as one road area.
  • the HOV guide unit 110 selects a road section closest to the vehicle position from among the road sections including the link having the HOV attribute of “shared-broken line” 233 (the road section specified in step S003) (Ste S004).
  • the HOV guide unit 110 sets the last link having the “shared-dashed line” HOV attribute as the exit guide link to the HOV exit link 251 of the exit guide management table 250. Register (step S005).
  • the HOV guide unit 110 determines whether or not one or more exit guide links are registered in step S005 (step S006). When one or more exit guide links are not registered (“No” in step S006), the HOV guide unit 110 ends the HOV guide process.
  • the HOV guide unit 110 is a link that configures the selected road section and has a “shared-dashed line” attribute. Among them, the HOV entrance guidance is performed at a link other than the last link (step S007). Specifically, the HOV guide unit 110 guides the user to enter the HOV lane using the screen 400 or the screen 450 shown in FIG. In other words, the HOV guide unit 110, when there are a plurality of links other than the last one among the links that constitute the selected road section and have the attribute “shared-dashed line”, Guide the approach to the HOV lane in the order of approach.
  • FIG. 8 is a diagram for explaining a screen output by the HOV guide unit 110.
  • FIG. 8A is a screen example of HOV entrance guidance by the HOV guidance unit 110 in the route guidance process.
  • FIG. 8B is a screen example of HOV entrance guidance by the HOV guidance unit 110 in route display.
  • a screen 400 shown in FIG. 8A includes a front road graphic 401 indicating a road ahead, a travel lane display graphic 402 indicating a travel lane, and an HOV lane graphic 403 indicating that an HOV lane exists ahead.
  • the distance display figure 410 that displays the distance to the point where the entry into the HOV lane is displayed in a figure, the distance meter 411 displayed superimposed on the distance display figure 410, and the distance to the point where the entry into the HOV lane is performed , And a distance display 412 that displays numerical values as numerical values. Since the distance meter 411 and the distance display 412 indicate the distance to the point where the entry into the HOV lane is performed, the user can grasp the timing for performing the driving operation for entering the HOV lane. In addition, since the HOV lane graphic 403 is displayed at a position indicating the front of the traveling lane display graphic 402, the user understands that the user should enter the HOV lane and know the traveling lane when entering the vehicle. be able to.
  • a screen 450 shown in FIG. 8B is shown superimposed on a checkpoint graphic 460 indicating a predetermined checkpoint on the recommended route (for example, an intersection that makes a right or left turn on the route) and the checkpoint graphic 460.
  • the user can grasp the information such as the intersection on which the right / left turn should be performed on the recommended route with the checkpoint graphic 460. That is, it is possible to quickly grasp which checkpoint should enter the HOV lane by looking at the HOV lane graphic 463 superimposed on the checkpoint graphic arranged in the traveling order.
  • the HOV guide unit 110 determines whether or not the vehicle on which the navigation device 100 is mounted has entered the HOV lane (step S008). Specifically, the HOV guide unit 110 requests the lane recognition unit 105 to determine whether or not the lane in which the vehicle on which the navigation device 100 is mounted is the HOV lane. As described above, the lane recognition unit 105 determines whether or not the vehicle is traveling on the HOV lane based on an image obtained by imaging the road surface behind or ahead of the vehicle, and notifies the HOV guide unit 110 of the result.
  • step S008 If the vehicle has not entered the HOV lane (“No” in step S008), the HOV guide unit 110 returns the process to step S003.
  • the HOV guide unit 110 determines whether the vehicle has reached the exit guide link while traveling on the HOV lane (step S009). If the exit guide link has not been reached (“No” in step S009), the HOV guide unit 110 determines whether the vehicle has left the HOV lane on a link other than the exit guide link (step S010).
  • the HOV guide unit 110 requests the lane recognition unit 105 to request a “shared-dashed” HOV near the position where the lane in which the vehicle on which the navigation device 100 is mounted is not the HOV lane.
  • the HOV link having the attribute is specified as the exited position.
  • the HOV guide unit 110 determines that the vehicle has not left the HOV lane.
  • step S010 When leaving the HOV lane (“Yes” in step S010), the HOV guide unit 110 cancels the registration of the exit guide link (step S011), and then returns the process to step S003.
  • step S010 If the user has not exited the HOV lane (“No” in step S010), the HOV guide unit 110 returns the process to step S009 to detect arrival at the registered exit guide link and exit from the HOV lane.
  • step S009 When the vehicle has reached the exit guide link while traveling on the HOV lane (“Yes” in step S009), the HOV guide unit 110 performs HOV exit guidance on the registered exit guide link (step S012). Then, the HOV guide unit 110 returns the process to step S003.
  • FIG. 9 is a diagram showing an example of the vehicle traveling on the road 600 where the HOV lane and the normal lane are shared.
  • the road 600 includes nodes 601 to 607, and a front portion 630 of the node 601 is a link having a “shared-dashed line” attribute, that is, an attribute of an HOV doorway.
  • the portion 632 from the node 602 to the node 603, the portion 634 from the node 604 to the node 605, and the portion 636 from the node 606 to the node 607 all have the “shared-dashed line” attribute, that is, the entrance / exit of the HOV. It is a link with the attribute of.
  • the portion 631 from the node 601 to the node 602, the portion 633 from the node 603 to the node 604, and the portion 635 from the node 605 to the node 606 all have the “shared-solid line” attribute, that is, the HOV entrance / exit. It is a link with an attribute that is not.
  • the node 607 is bifurcated into a road 637 going straight ahead and a road leaving the road.
  • the recommended route 620 enters the HOV lane from the front portion 630 of the node 601, travels through the HOV lane, escapes from the HOV lane in the portion 636 from the node 606 to the node 607, and the road ahead of the node 607 It is assumed that the route travels on a road exiting from the road.
  • the HOV guide unit 110 performs HOV entrance guidance on the road 630, the road 632, and the road 634 and performs HOV exit guidance on the road 636 unless the vehicle deviates from the recommended route.
  • FIG. 10 is a diagram showing a route 625 when the vehicle approaches a roadside facility 640 such as a service area on the roadside in a situation similar to the situation shown in FIG. That is, the vehicle 625 receives the HOV entrance guidance on the road 630, enters the HOV lane, exits the HOV lane on the road 632, stops at the roadside facility 640 such as a service area, and then receives the HOV entrance guidance on the road 634. The vehicle enters a HOV lane and travels on a road 636 to receive a HOV exit guidance and exit from the HOV lane. Even in such a case, according to the HOV guidance process, the HOV guidance unit 110 can perform HOV entrance guidance on the roads 630 and 634 and can perform HOV exit guidance on the road 636.
  • the navigation device 100 can inform the user in an easy-to-understand manner the doorway to enter and exit to travel according to the recommended route.
  • the navigation apparatus 100 can appropriately perform entrance guidance to the HOV lane and exit guidance from the HOV lane again for a vehicle that has left the HOV lane to stop at a roadside facility.
  • the entrance is guided after specifying the exit when traveling on the recommended route, it is possible to avoid the HOV entrance guidance that does not leave the HOV lane and deviates from the recommended route.
  • the recommended route can be appropriately traveled by following the instructions of the navigation device.
  • the HOV lane travels on a general road, but the present invention is not limited to this.
  • the guidance of the HOV doorway may be appropriately performed even on a route including an expressway. That is, when there is a boarding / exiting on an expressway or the like, the use sections of the HOV lanes of the expressway section and the general road section are separately searched, and the entry / exit of the HOV is completed for each section. Good. By doing in this way, the entrance / exit of the HOV lane can be appropriately guided even on a recommended route including an expressway.
  • the navigation device 100 can inform the user in an easy-to-understand manner the doorway to enter and exit to travel according to the recommended route.
  • the present invention is not limited to the embodiment of the present invention relating to the point of the first invention.
  • the embodiment of the present invention relating to the point of the first invention can be variously modified within the scope of the technical idea of the present invention.
  • the lane recognition processing by the lane recognition unit 105 may be performed by, for example, highly accurate GPS position information or lane recognition based on information received from an oscillator for lane recognition laid for each lane. .
  • FIG. 11 shows an overall configuration diagram of the navigation device 1100.
  • the navigation device 1100 is a so-called navigation device capable of displaying map information and indicating a point indicating the current location of the navigation device 1100 and information for guiding a route to a set destination.
  • the navigation device 1100 includes an arithmetic processing unit 1001, a display 1002, a storage device 1003, a voice input / output device 1004 (including a microphone 1041 as a voice input device and a speaker 1042 as a voice output device), an input device 1005, and a ROM.
  • GPS Global Positioning System
  • the arithmetic processing unit 1001 is a central unit that performs various processes. For example, the current location is calculated based on information output from various sensors 1007 and 1008, the GPS receiver 1009, the FM multiplex broadcast receiver 1010, and the like. Further, map data necessary for display is read from the storage device 1003 or the ROM device 1006 based on the obtained current location information.
  • the arithmetic processing unit 1001 develops the read map data in graphics and displays a mark indicating the current location on the display 1002 in a superimposed manner.
  • an optimal route (or a stopover or stopover) that is instructed by the user and the destination (or a stopover or stopover location) using map data or the like stored in the storage device 1003 or the ROM device 1006 is used. Search for the recommended route. Further, the user is guided using the speaker 1042 or the display 1002.
  • the arithmetic processing unit 1001 can preferentially search for a route traveling on the HOV lane when performing route search.
  • the HOV lane is defined such that only vehicles having a specified number of passengers (for example, two people including the driver) or more and vehicles satisfying a specific standard (low fuel consumption or low pollution) can travel. Lane.
  • the arithmetic processing unit 1 determines whether or not the route searched for is a route that can actually be traveled, and if the travel is impossible, the search condition is changed so as to be a travelable route. To search again.
  • the arithmetic processing unit 1001 of the navigation device 1100 has a configuration in which each device is connected by a bus 1025.
  • the arithmetic processing unit 1001 includes a CPU (Central Processing Unit) 1021 that executes various processing such as numerical calculation and control of each device, and a RAM (Random Access Memory that stores map data and arithmetic data read from the storage device 1003. ) 1022, a ROM (Read Only Memory) 1023 for storing programs and data, and an I / F (interface) 1024 for connecting various types of hardware to the arithmetic processing unit 1001.
  • a CPU Central Processing Unit
  • RAM Random Access Memory
  • ROM Read Only Memory
  • I / F interface
  • the display 1002 is a unit that displays graphics information generated by the arithmetic processing unit 1 or the like.
  • the display 1002 is configured by a liquid crystal display, an organic EL display, or the like.
  • the storage device 1003 is composed of at least a readable / writable storage medium such as an HDD (Hard Disk Drive) or a nonvolatile memory card.
  • a readable / writable storage medium such as an HDD (Hard Disk Drive) or a nonvolatile memory card.
  • This storage medium stores a link table 1200, which is map data (including link data of links constituting roads on a map) necessary for a normal route search device.
  • FIG. 12 is a diagram showing the configuration of the link table 1200.
  • the link table 1200 includes, for each mesh identification code (mesh ID) 1201 that is a partitioned area on the map, link data 1202 of each link constituting a road included in the mesh area.
  • mesh ID mesh identification code
  • the link data 1202 includes, for each link ID 1211 which is a link identifier, coordinate information 1222 of two nodes (start node and end node) constituting the link, a road type 1223 indicating the type of road including the link, and the link length.
  • the HOV attribute 1228 has a “dedicated” attribute 1231 when the link is a road composed only of the HOV lane, and “none” when the link is a road that does not have the HOV lane. Attribute 1234. If the link has both a HOV lane and a normal lane, and the road cannot change lanes between the HOV lane and the normal lane, the attribute 1232 of “shared-solid line” is used. If the link has both a HOV lane and a normal lane, and the road can change lanes between the HOV lane and the normal lane, An attribute 1233 is provided. That is, it can be said that the HOV attribute 1228 stores information specifying the installation status of the HOV lane.
  • the upstream and downstream directions of the same road are managed as different links by distinguishing the start node and the end node for the two nodes constituting the link.
  • the voice input / output device 1004 includes a microphone 1041 as a voice input device and a speaker 1042 as a voice output device.
  • the microphone 1041 acquires sound outside the navigation device 1100 such as a voice uttered by a user or another passenger.
  • the speaker 1042 outputs a message to the user generated by the arithmetic processing unit 1001 as voice.
  • the microphone 1041 and the speaker 1042 are separately arranged at predetermined parts of the vehicle. However, it may be housed in an integral housing.
  • the navigation device 1100 can include a plurality of microphones 1041 and speakers 1042.
  • the input device 1005 is a device that receives an instruction from the user through an operation by the user.
  • the input device 1005 includes a touch panel 1051, a dial switch 1052, and other hardware switches (not shown) such as scroll keys and scale change keys.
  • the input device 1005 includes a remote controller that can perform an operation instruction to the navigation device 1100 remotely.
  • the remote controller includes a dial switch, a scroll key, a scale change key, and the like, and can send information on operation of each key or switch to the navigation device 1100.
  • the touch panel 1051 is mounted on the display surface side of the display 1002, and the display screen can be seen through.
  • the touch panel 1051 specifies a touch position corresponding to the XY coordinates of the image displayed on the display 1002, converts the touch position into coordinates, and outputs the coordinate.
  • the touch panel 1051 includes a pressure-sensitive or electrostatic input detection element.
  • the dial switch 1052 is configured to be able to rotate clockwise and counterclockwise, generates a pulse signal for every rotation of a predetermined angle, and outputs the pulse signal to the arithmetic processing unit 1001.
  • the arithmetic processing unit 1001 obtains the rotation angle from the number of pulse signals.
  • the ROM device 1006 includes at least a readable storage medium such as a ROM (Read Only Memory) such as a CD-ROM or a DVD-ROM, or an IC (Integrated Circuit) card.
  • a readable storage medium such as a ROM (Read Only Memory) such as a CD-ROM or a DVD-ROM, or an IC (Integrated Circuit) card.
  • a ROM Read Only Memory
  • IC Integrated Circuit
  • the vehicle speed sensor 1007, the gyro sensor 1008, and the GPS receiver 1009 are used by the navigation device 1100 to detect the current location (own vehicle position).
  • the vehicle speed sensor 1007 is a sensor that outputs a value used to calculate the vehicle speed.
  • the gyro sensor 1008 is constituted by an optical fiber gyro, a vibration gyro, or the like, and detects an angular velocity due to the rotation of the moving body.
  • the GPS receiving device 1009 receives a signal from a GPS satellite and measures the distance between the moving body and the GPS satellite and the rate of change of the distance with respect to three or more satellites, thereby moving the current position, traveling speed, and traveling of the moving body. It measures the direction.
  • the FM multiplex broadcast receiving apparatus 1010 receives an FM multiplex broadcast signal sent from an FM broadcast station.
  • FM multiplex broadcasting includes VICS (Vehicle Information Communication System: registered trademark) information, current traffic information, regulatory information, SA / PA (service area / parking area) information, parking information, weather information, FM multiplex general information, etc. As text information provided by radio stations.
  • VICS Vehicle Information Communication System: registered trademark
  • SA / PA service area / parking area
  • parking information As text information provided by radio stations.
  • the beacon receiving device 1011 receives rough current traffic information such as VICS information, regulation information, SA / PA (service area / parking area) information, parking information, weather information, emergency alerts, and the like.
  • VICS information such as VICS information, regulation information, SA / PA (service area / parking area) information, parking information, weather information, emergency alerts, and the like.
  • SA / PA service area / parking area
  • parking information such as weather information, emergency alerts, and the like.
  • weather information such as a radio beacon that communicates by radio waves.
  • FIG. 13 shows a camera 1012 attached to the rear of the vehicle 1300.
  • the camera 1012 faces slightly downward and images the ground surface behind the vehicle using an image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor) image sensor.
  • an image sensor such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor) image sensor.
  • the position where the camera 1012 is attached is not limited, and for example, the camera 1012 may be attached in front of the vehicle 1300 to image the ground surface in front of the vehicle.
  • FIG. 14 is a diagram for explaining a method of generating a ground projection image using an image captured by the camera 1012 of FIG.
  • a camera control unit 1104 which will be described later, obtains a position of a viewpoint P of the camera 1012 (a coordinate position in a three-dimensional space with a predetermined position in the vehicle as an origin) and an imaging direction (line-of-sight direction) K. Then, the camera control unit 1104 projects the captured image 1510 onto the ground surface 1520 from the position of the viewpoint P of the camera 1012 toward the imaging direction K, and generates a ground projection image 1530. Note that the imaging direction K intersects the center of the captured image 1510 perpendicularly. The distance from the viewpoint P of the camera 1012 to the captured image 1510 is determined in advance.
  • the ground projection image 1530 generated in this way is an image that looks like a bird's-eye view of the vehicle periphery from above the vehicle.
  • the in-vehicle network communication device 1013 connects the navigation device 1100 to a network corresponding to CAN (not shown), which is a vehicle control network standard, and an ECU (Electronic control unit) that is another vehicle control device connected to the network. It is a device that performs communication by exchanging CAN messages.
  • CAN a vehicle control network standard
  • ECU Electronic control unit
  • FIG. 15 is a functional block diagram of the arithmetic processing unit 1001.
  • the arithmetic processing unit 1001 includes a main control unit 1101, an input receiving unit 1102, an output processing unit 1103, a camera control unit 1104, a lane recognition unit 1105, an HOV travel availability determination unit 1106, a route, and the like.
  • a search unit 1107, a route guidance unit 1108, and a route verification unit 1109 are included.
  • the main control unit 1101 is a central functional unit that performs various processes, and controls other processing units according to the processing content. In addition, information on various sensors, the GPS receiver 1009, and the like is acquired, and a map matching process is performed to identify the current location. Further, the travel history is stored in the storage device 1003 for each link by associating the travel date and time with the position as needed. Further, the current time is output in response to a request from each processing unit.
  • the main control unit 1101 manages various setting information included in the navigation device 1100. That is, the main control unit 1101 receives information to be set as the various setting information from the user via the input receiving unit 1102 and stores it in a predetermined position of the storage device 1003.
  • the main control unit 1101 accepts information related to the use of the HOV lane (for example, information on whether the HOV lane is actively used is true or false) as various setting information, and stores the information in the storage device 1003.
  • the main control unit 1101 receives a request for providing the various setting information from another control unit, the main control unit 1101 transfers the various setting information to the requesting control unit.
  • the input receiving unit 1102 receives an instruction from the user input via the input device 1005 or the microphone 1041, and controls each unit of the arithmetic processing unit 1001 to execute processing corresponding to the requested content. For example, when the user requests to display a map, the output processing unit 1103 is requested to perform processing for displaying a predetermined range of the map on the display 1002.
  • the output processing unit 1103 receives screen information to be displayed such as polygon information, for example, converts it into a signal for drawing on the display 1002, and instructs the display 1002 to draw.
  • the camera control unit 1104 controls the operation of the camera 1012. For example, the start / end timing of imaging of the camera 1012 is set. In addition, transmission of the captured image to the lane recognition unit 1105 is controlled.
  • the lane recognition unit 1105 acquires an image captured by the camera 1012 as image data. Then, the acquired image is converted into an image for display (ground projection image). Further, from the acquired image, a sign laid or colored on the road surface of the road is recognized, and the lane in which the vehicle travels is specified. For example, as will be described later, the lane recognition unit 1105 recognizes the presence of a sign (rhombic paint) indicating that it is an HOV lane, and if the sign is present near the left and right center in the image, It is determined that 1300 is traveling on the HOV lane.
  • the lane recognition unit 1105 recognizes the sign not in the vicinity of the left and right center in the image but in a position that is shifted to the left or right rather than near the center of the left and right. If the sign is recognized, it is determined that the vehicle is traveling in an adjacent lane that is not an HOV lane.
  • the HOV traveling availability determination unit 1106 determines whether or not the host vehicle 1300 can travel on the HOV lane. In the determination of the propriety of traveling, the HOV traveling propriety determining unit 1106 determines the vehicle type of the own vehicle 300 based on communication information flowing through the in-vehicle network of the own vehicle 1300 via the in-vehicle network communication device 1013, and the HOV lane It is determined whether the vehicle type is capable of traveling.
  • the determination process for determining whether or not the vehicle can travel on the HOV lane is not limited to this, and the HOV vehicle travel determination unit 1106 specifies the number of passengers from a load sensor (not shown) attached to the vehicle seat or wears a seat belt. The number of passengers may be specified via a sensor, and it may be determined whether or not the number of passengers that can travel on the HOV lane has been reached.
  • the route search unit 1107 searches for an optimum route (recommended route) that connects the starting point or the current location instructed by the user and the destination.
  • a route is searched based on a link cost set in advance for a predetermined section (link) of a road using a route search logic such as Dijkstra method.
  • a route search logic such as Dijkstra method.
  • Search for a route If the vehicle is not in a state where it can travel, the route search unit 1107 searches for a route with the lowest link cost without considering the HOV lane.
  • the route search unit 1107 determines that the HOV travel availability determination unit 1106 is not in a state where it can travel on the HOV lane, if the vehicle is already traveling on the HOV lane, The recommended route using the HOV lane is searched for preferentially.
  • the route search unit 1107 refers to the HOV attribute 1228 of the link to which the current location belongs when determining whether or not the vehicle has already traveled on the HOV lane. If it is determined that the vehicle is traveling. If the attribute is “none”, it is determined that the vehicle is not traveling on the HOV lane. If the attribute is “shared”, the lane indicates whether the traveling lane is the HOV lane. The determination is made by requesting the recognition unit 1105 to make a determination.
  • the route guidance unit 1108 guides the user using the speaker 1042 and the display 1002 so that the current location of the vehicle does not deviate from the recommended route.
  • the route verification unit 1109 searches the recommended route searched by the route search unit 1107 for a location (movement prohibited section) that straddles the movement prohibited portion of the HOV lane, and if there is a corresponding location, avoids traveling at that location. Re-search for recommended routes. That is, does the route verification unit 1109 need to travel out of the HOV lane at a portion where the recommended route is not permitted to move between the HOV lane and the normal lane, for example, other than the exit from the HOV lane? If the recommended route is necessary, the search condition is changed and the search is performed again to set a more appropriate route.
  • Each functional unit of the arithmetic processing unit 1001 described above that is, the main control unit 1101, the input reception unit 1102, the output processing unit 1103, the camera control unit 1104, the lane recognition unit 1105, the HOV travel availability determination unit 1106, the route search unit 1107, the route The guiding unit 1108 and the route verification unit 1109 are constructed by the CPU 1021 reading and executing a predetermined program. Therefore, the RAM 1022 stores a program for realizing the processing of each functional unit.
  • Each component described above is a classification of the configuration of the navigation device 1100 according to main processing contents in order to facilitate understanding. Therefore, the present invention is not limited by the way of classifying the components and their names.
  • the configuration of the navigation device 1100 can be classified into more components depending on the processing content. Moreover, it can also classify
  • each functional unit may be constructed by hardware (ASIC, GPU, etc.). Further, the processing of each functional unit may be executed by one hardware or may be executed by a plurality of hardware.
  • FIG. 16 is a flowchart showing route search processing performed by the navigation device 1100. This flow is started when a search instruction for a recommended route is received while the navigation device 1100 is operating.
  • the main control unit 101 sets a destination (step S001). Specifically, the main control unit 101 receives a destination input from the user via the input receiving unit 102. Then, the main control unit 101 sets the destination as a route search destination.
  • the route search unit 1107 determines whether or not the navigation device 1100 is set to use the HOV lane (step S1002). Specifically, the route search unit 1107 performs main control on information related to use of the HOV lane (for example, true or false information set for using the HOV lane) among various setting information included in the navigation device 1100. Acquired from the unit 1101. Then, the route search unit 1107 determines whether the setting is to use the HOV lane with reference to the information.
  • information related to use of the HOV lane for example, true or false information set for using the HOV lane
  • the route search unit 1107 determines whether or not the vehicle can travel on the HOV lane (step S1003). Specifically, the route search unit 1107 requests the HOV travel availability determination unit 1106 to determine whether the host vehicle can travel on the HOV lane.
  • the route search The unit 1107 acquires the HOV attribute 1228 of the traveling lane and determines whether or not the vehicle is traveling on the HOV lane (step S1004).
  • the route search unit 1107 advances the processing to step S1007 to be described later, and performs a route search that prioritizes the HOV lane. If the HOV attribute of the traveling lane is “None”, the route search unit 1107 advances the processing to Step S1006 described later and performs a route search that does not use the HOV lane. If the HOV attribute of the traveling lane is “shared”, the lane recognition unit 1105 determines whether or not the vehicle is traveling in the HOV lane using an image captured by the camera 1012 (step S1005). ).
  • step S1005 If it is determined using the image captured by the camera 1012 that the vehicle is traveling on the HOV lane (“Yes” in step S1005), the route search unit 1107 advances the processing to step S1007 described later. Route search with priority given to the HOV lane is performed.
  • step S1005 If it is determined using the image captured by the camera 1012 that the vehicle is not traveling on the HOV lane (“No” in step S1005), the route search unit 1107 advances the processing to step S1006 described later. Route search without using the HOV lane is performed.
  • the route search unit 1107 searches for a route by performing a route search that does not use the HOV lane. Then, the route guidance unit 1108 performs guidance for the recommended route (step S1006). Specifically, the route search unit 1107 specifies a predetermined link cost for each link regardless of the value of the HOV attribute 1228 of each link, and reaches the destination set in step S1001 from the departure point or the current location. A route with a favorable link cost (for example, the smallest) is determined as a recommended route. Then, the route guide unit 1108 guides the user according to the recommended route.
  • the route search unit 1107 searches for a route that travels preferentially on the HOV lane. Then, the route guidance unit 1108 performs guidance (step S1008). Specifically, the route search unit 1107 has a predetermined coefficient (for example, link travel time) for a link cost (for example, a link travel time) for a link (that is, a road including an HOV lane) whose HOV attribute 1228 is “dedicated” or “shared”. And a route search using a value multiplied by a predetermined value such as “0.7”.
  • a predetermined coefficient for example, link travel time
  • a link cost for example, a link travel time
  • the route guidance unit 1108 identifies the current location by acquiring the current location identified by the main control unit 1101 (step S1008), and determines whether the destination has been reached (step S1008). In S1009), when the destination is reached (“Yes” in Step S1009), the route guidance unit 1108 ends the route search process. If the destination has not arrived (“No” in step S1009), the route guidance unit 1108 determines whether the current location has deviated from the recommended route (step S1010). If not deviating from the recommended route (“No” in step S1010), route search unit 1107 returns the process to step S1008. If the route deviates from the recommended route (“Yes” in step S1010), the route search unit 1107 returns the processing to step S1007 and searches for the recommended route again.
  • the navigation device 1100 can search for a recommended route that uses the HOV lane preferentially in a situation where the HOV lane can be used. Therefore, the navigation device 1100 can preferentially guide a route using the HOV lane.
  • the present invention is not limited to this.
  • opening / closing of the door of the host vehicle 1300 is detected during route guidance, there may be a change in the number of passengers, so it may be determined whether or not the vehicle can travel on the HOV lane again.
  • the above route search process makes it possible to perform a route search so that a road having an HOV lane is given priority. However, a route that needs to travel in a position where the HOV lane and the normal lane cannot be entered and exited. It can also be searched.
  • the HOV priority path verification process that is a process for correcting this will be described with reference to FIG.
  • FIG. 17 is a flowchart showing the processing contents of the HOV priority route verification processing. This flow is started after the route is searched in step S1007 of the route search process and guidance is started.
  • the route verification unit 1109 determines whether or not the vehicle is traveling on a HOV-only lane where there is no exit from the HOV lane until the exit ramp where the vehicle enters on the route (step S1101). Specifically, the route verification unit 1109 extracts an exit ramp that is an exit from a road having an HOV lane from the recommended route information searched by the route search unit 1107, and from the departure point or the current location to the exit ramp. It is determined whether or not all the HOV attributes 1228 of the roads included in the recommended route are “dedicated”. If all the HOV attributes are “dedicated”, it is determined that the vehicle is traveling in the HOV dedicated lane.
  • the route verification unit 1109 cancels the guidance setting to the exit lamp (step S1102). Specifically, the route verification unit 1109 sets the route guidance unit 1108 not to guide to the exit lamp on the recommended route to the exit lamp. Then, the path verification unit 1109 ends the HOV priority path verification process.
  • the route verification unit 1109 is not limited to setting the non-guidance range as described above, and may set other ranges as non-guidance ranges. That is, the route verification unit 1109 sets the route guidance unit 1108 so as not to guide at least the exit ramp (the road entering immediately after exiting the HOV lane in the movement prohibited section).
  • the route verification unit 1109 does not have an HOV lane exit even if the route searched for the HOV-dedicated lane or the vehicle position is traced back to the vehicle position. It is determined whether or not an exit lamp is included (step S1103). Specifically, the route verification unit 1109 extracts an exit ramp from the recommended route searched by the route search unit 1107. Then, for each exit lamp, the path verification unit 1109 has the shorter one of the section from the exit lamp to the start position of the path (departure location or current location) and the section from the exit ramp to the link having the HOV-only attribute.
  • the path verification unit 1109 includes, in the extracted exit lamp, an exit lamp that does not have an HOV lane exit between the exit lamp and a link having a start position or a HOV-only attribute. Is determined to include an exit lamp without an HOV lane exit.
  • step S1103 If an exit lamp without an HOV lane exit is not included (“No” in step S1103), the path verification unit 1109 determines that there is no problem with the recommended path, and ends the HOV priority path verification process.
  • the path verification unit 1109 determines whether or not the exit ramp without the HOV lane exit is essential for the destination. (Step S1104). Specifically, when the only route to the destination passes through the exit ramp, the route verification unit 1109 determines that passage of an exit ramp without the HOV lane exit to the destination is essential. . For example, a facility that can only enter from an exit ramp corresponds to this.
  • the route verification unit 1109 sets the exit ramp as a prohibited road or sufficiently increases the link cost of the exit ramp. Set (for example, increase the link cost by a predetermined value or weight the link cost by a predetermined coefficient of 1 or more) and instruct the route search unit 1107 to search again (step S1105). . Then, the path verification unit 1109 returns the control to step S1103.
  • the route verification unit 1109 displays the HOV lane (starting location or current location side) before the exit ramp on the recommended route.
  • the nearest HOV lane exit (the nearest HOV lane) or the nearest HOV lane exit in the direction of travel (destination side) from the junction (link whose HOV attribute is “shared-dashed”) is identified, and the HOV lane exit
  • the route search unit 1107 is instructed to search for a route to be performed (step S1106). Then, the path verification unit 1109 returns the control to step S1103.
  • the navigation device 1100 can correct a route that needs to travel in a position where it cannot enter and exit between the HOV lane and the normal lane. Therefore, the navigation device 1100 can guide an appropriate route including a lane (HOV lane) in which only a vehicle satisfying a specific condition can travel.
  • HOV lane a lane in which only a vehicle satisfying a specific condition can travel.
  • re-searching is performed until an appropriate route is found. However, if an appropriate route is not found even after re-searching a predetermined number of times (for example, 10 times), guidance setting is performed. May be canceled to provide guidance for displaying the recommended route. By doing so, it is possible to limit the processing amount of route search processing with a high calculation load, and to prevent a decrease in responsiveness of the navigation device 1100.
  • FIG. 18 is a diagram illustrating the HOV priority route verification process using a specific example.
  • FIG. 18A illustrates a road 1400 configured by an HOV lane 1401 and a normal lane 1402. Note that it is assumed that movement between lanes cannot be performed between the HOV lane 1401 and the normal lane 1402 within the range illustrated.
  • the road 1400 includes an entrance ramp road 1403 that joins the HOV lane 1401 of the road 400, an exit ramp road 1404 that separates from the normal lane 1402 of the road 1400 at a position (destination side) ahead of the entrance ramp road 1403, and Is provided.
  • the road 1400 includes a link 1410, a link 1413 at a position ahead of it, and a link 1415 at a position ahead of it, and the link 1410 and the link 1413 are connected by a node 1412. And the link 1415 are connected by a node 1414.
  • a link 1411 constituting an entry ramp road 1403 is connected to the node 1412
  • a link 1416 constituting an exit ramp road 1404 is connected to the node 1414. That is, the recommended route passing through the link 1411, passing through the link 1413, and passing through the link 1416 can run at a glance in terms of the configuration of the link and the node, but actually moves between the HOV lane 1401 and the normal lane 402. Is prohibited and cannot cross lanes, it can be said that such a recommended route is not suitable for driving.
  • FIG. 18B is a diagram showing an example in which passage of the exit ramp road 1404 is prohibited in step S1105 on the same road 1400 as in FIG.
  • the route to be re-searched can be prevented from going to the link 1416 direction at the node 1414, that is, the direction to enter the exit ramp road 1404, and the lane is changed from the HOV lane 1401 to the normal lane 1402. Unnecessary recommended routes will be searched.
  • the navigation device 1100 can guide an appropriate route including a lane (HOV lane) in which only a vehicle satisfying a specific condition can travel. it can.
  • HOV lane a lane in which only a vehicle satisfying a specific condition can travel. it can.
  • the present invention is not limited to the above embodiment.
  • the embodiment of the present invention relating to the point of the second invention can be variously modified within the scope of the technical idea of the present invention.
  • the lane recognition processing by the lane recognition unit 1105 is performed by, for example, recognizing a lane from high-accuracy GPS position information or information received from a lane recognition transmitter installed in each lane. Also good.
  • FIG. 19 is a diagram illustrating a modification of the HOV priority route verification process.
  • the modification basically includes the same configuration as that of the above embodiment, but there is a difference in processing when the destination does not require the exit lamp to pass through in step S1104 (“No” in step S1104). . The difference will be described below.
  • the route verification unit 1109 displays the HOV lane (starting location or current location side) in front of the exit ramp on the recommended route.
  • the nearest HOV lane exit in the direction of travel (destination side) from the nearest HOV lane) or the nearest HOV lane exit (link whose HOV attribute is “shared-dashed line”) is identified, and the HOV lane exit is taken as a transit point Calculate the cost of the route.
  • the route verification unit 1109 calculates the cost of the route searched again by setting the exit ramp as a road prohibited road or setting the link cost of the exit ramp sufficiently high (step S1205). Then, the route verification unit 1109 compares the costs of the routes calculated in step S1205 and searches for a route with a lower cost (step S1206). Then, the path verification unit 1109 returns the control to step S1103.
  • the above is a modification of the HOV priority route verification process. According to the modified example, it is possible to re-search for a route so that the cost is lower than the configuration shown in the first embodiment, and thus it can be said that a more desirable route for the user can be guided.
  • the recommended route includes a movement prohibited section instead of re-searching for a route that avoids traveling in a portion (movement prohibited section) straddling the movement prohibited portion of the HOV lane.
  • the route may be re-searched so as not to use the HOV lane.
  • the navigation device provides driving guidance for the exit ramp if it is a normal route, but the HOV lane does not pass through the exit from the HOV lane.
  • route guidance that is not appropriate can be avoided.
  • Dial switch 100, 1100 ... Navigation device, 101, 1101 ... Main control unit, 102, 1102 ... Input reception unit, 103, 1103 ... Output processing unit, 104, 1104 ... Camera control unit, 105, 1105 ... Lane recognition unit, 106, 1106 ... HOV travel availability determination unit, 107, 1107 ... Route search unit, 108 ... Branch guidance unit, 109, 1108 ... route guidance unit, 1109 ... route verification unit, 110 ... HOV guide unit, 200, 1200 ... link table, 300, 1300 ... vehicle

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne la technologie de navigation permettant la fourniture de guidage pour des voies réservées aux véhicules multi-occupants d'une manière plus facilement compréhensible. Un dispositif de navigation est équipé: d'un moyen de stockage pour stocker, pour chaque segment de route prédéterminé, une information de voie indiquant la possibilité ou non d'entrer ou de sortir des voies pouvant être utilisées lorsqu'une condition prédéterminée est remplie (désignées ci-après routes conditionnelles) ; un moyen de recherche d'itinéraire pour rechercher un itinéraire recommandé vers une destination ; et un moyen de guidage de voies pour fournir un guidage d'entrée/sortie dans un segment de route où une entrée ou sortie d'une voie conditionnelle est possible. Si un segment où une sortie de voie conditionnelle est possible et un segment où une entrée d'une voie conditionnelle est possible, qui se trouve avant le segment où une sortie est possible, se situent sur l'itinéraire recommandé, le moyen de guidage de voie fournit un guidage d'entrée dans le segment où l'entrée d'une voie conditionnelle est possible.
PCT/JP2010/073615 2009-12-28 2010-12-27 Dispositif de navigation, son procédé de guidage et son procédé de recherché d'itinéraire Ceased WO2011081156A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US13/519,351 US20130035858A1 (en) 2009-12-28 2010-12-27 Navigation Device, Guidance Method Thereof and Route Search Method Thereof

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2009298085A JP2011137733A (ja) 2009-12-28 2009-12-28 ナビゲーション装置およびその経路探索方法
JP2009-298078 2009-12-28
JP2009298078A JP2011137726A (ja) 2009-12-28 2009-12-28 ナビゲーション装置およびその案内方法
JP2009-298085 2009-12-28

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WO2011081156A1 true WO2011081156A1 (fr) 2011-07-07

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Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8831876B2 (en) * 2009-12-28 2014-09-09 Clarion Co., Ltd. Navigation device, route guidance method, and program
JP2013117515A (ja) * 2011-11-02 2013-06-13 Aisin Aw Co Ltd レーン案内表示システム、方法およびプログラム
US8977488B2 (en) * 2012-06-27 2015-03-10 Toyota Motor Engineering & Manufacturing North America, Inc. Systems, methods and vehicles for providing route guidance
WO2014034288A1 (fr) * 2012-08-27 2014-03-06 ソニー株式会社 Dispositif de traitement d'informations, procédé de traitement d'informations et programme
JP6606148B2 (ja) * 2017-10-06 2019-11-13 本田技研工業株式会社 車両制御装置
JP7217427B2 (ja) * 2019-03-15 2023-02-03 パナソニックＩｐマネジメント株式会社 遊休レーン走行管理サーバ装置、管理方法及びプログラム
US20250108835A1 (en) * 2023-09-29 2025-04-03 Zoox, Inc. Lane ending cost

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Publication number Priority date Publication date Assignee Title
JP2001183159A (ja) * 1999-12-24 2001-07-06 Alpine Electronics Inc ナビゲーション装置
JP2005083758A (ja) * 2003-09-04 2005-03-31 Mitsubishi Electric Corp 経路探索装置
JP2007086052A (ja) * 2005-08-24 2007-04-05 Denso Corp ナビゲーション装置及びプログラム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001183159A (ja) * 1999-12-24 2001-07-06 Alpine Electronics Inc ナビゲーション装置
JP2005083758A (ja) * 2003-09-04 2005-03-31 Mitsubishi Electric Corp 経路探索装置
JP2007086052A (ja) * 2005-08-24 2007-04-05 Denso Corp ナビゲーション装置及びプログラム

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